Local Motion Planning and Tracking of Autonomous Driving Vehicles

This paper improved and designed a method based on model predictive control algorithm for motion planning and tracking control in the reference of previous studies. Based on the model predictive control algorithm, the vehicle's lateral tracking algorithm is designed. Based on the dual-PID closed-loop algorithm, the vehicle's longitudinal control algorithm is designed. Combining the dangerous potential field method with the model predictive control algorithm, the vehicle's local obstacle avoidance and the local motion planning algorithm are designed. These algorithms were simulated in the simulation environment as well as deployed and verified on the real vehicle. The results of the real vehicle performance are fed back to the simulation platform for parameter re-optimization.